{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "using Interact\n",
    "using RigidBodyTreeInspector\n",
    "using RigidBodyDynamics"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "scrolled": false
   },
   "outputs": [],
   "source": [
    "# Let's construct a mechanism by loading a URDF. We can get \n",
    "# the URDF for the NASA Valkyrie robot using the ValkyrieRobot.jl \n",
    "# package:\n",
    "try\n",
    "    @assert Pkg.installed(\"ValkyrieRobot\") !== nothing\n",
    "catch\n",
    "    Pkg.clone(\"https://github.com/tkoolen/ValkyrieRobot.jl.git\")\n",
    "end\n",
    "import ValkyrieRobot\n",
    "# Construct a Valkyrie (which causes all the urdf and mesh files to be downloaded)\n",
    "ValkyrieRobot.Valkyrie()\n",
    "urdf = ValkyrieRobot.urdfpath()\n",
    "\n",
    "mechanism = parse_urdf(Float64, urdf);"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Launch the viewer\n",
    "DrakeVisualizer.any_open_windows() || DrakeVisualizer.new_window()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "scrolled": false
   },
   "outputs": [],
   "source": [
    "# We can visualize the kinematic structure of the robot just by inspecting it:\n",
    "inspect(mechanism)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# And we can also show the inertias of each link, visualized as\n",
    "# ellipsoids of equivalent mass and inertia\n",
    "inspect(mechanism; show_inertias=true)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# We can also parse the visual elements from the URDF and use them to \n",
    "# show the robot instead. The URDF we're using uses the package:// \n",
    "# prefix when looking for mesh files, so we'll have to tell it what \n",
    "# directories to search in:\n",
    "# package_path = [\"$DRAKE_DISTRO/drake/examples\"]\n",
    "geometries = parse_urdf(urdf, mechanism; package_path=[ValkyrieRobot.packagepath()]);\n",
    "vis = Visualizer()[:robot1]\n",
    "setgeometry!(vis, mechanism, geometries)\n",
    "inspect(mechanism, vis)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
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